position_planner_name: PriestLocalPlanner #HybridLocalPlanner MPPILocalPlanner PriestLocalPlanner PNKXLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner #StanleyDockingLocalPlanner PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: LocalPlannerAdapter
base_global_planner: SBPLLatticePlanner

PriestLocalPlanner:
  base_local_planner: LocalPlannerAdapter
  base_global_planner: SBPLLatticePlanner #CustomPlanner SBPLLatticePlanner

PNKXDockingLocalPlanner:
  base_local_planner: LocalPlannerAdapter
  base_global_planner: TwoPointsPlanner

PNKXGoStraightLocalPlanner:
  base_local_planner: LocalPlannerAdapter
  base_global_planner: TwoPointsPlanner

PNKXRotateLocalPlanner:
  base_local_planner: LocalPlannerAdapter
  base_global_planner: TwoPointsPlanner

### replanning
controller_frequency: 30.0   # run controller at 30.0 Hz
controller_patience: 0.0    # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
planner_frequency: 0.0       # don't continually replan (only when controller failed)
planner_patience: 2.0        # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: 0     # ... or after 10 attempts (whichever happens first)
oscillation_timeout: -1    # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.5
## recovery behaviors
#
# Recovery của move_base cũ đã dừng: bộ behavior gen-2 (tick-based) khai ở
# `recovery_behaviors_params.yaml` và do `recovery_core::RecoveryRegistry` nạp, không phải khoá
# `recovery_behaviors` ở đây.
#
# Danh sách gen-1 đã được gỡ hẳn thay vì để lại: các entry cũ trỏ tên alias `RotateRecovery` /
# `ClearCostmapRecovery` vào file .so gen-2, trong khi loader ở đây import theo chữ ký gen-1
# (`robot_nav_core::RecoveryBehavior`). Boost.DLL không kiểm kiểu qua ranh giới .so, nên hai bên
# không bao giờ gặp nhau ở compile time và lỗi chỉ hiện ra lúc chạy. Giữ lại khoá cũng làm hai file
# config tranh nhau cùng một tên alias.
recovery_behavior_enabled: false 
recovery_behaviors: [       
                      {name: aggressive_reset, type: ClearCostmapRecovery},
                      {name: conservative_reset, type: ClearCostmapRecovery},                      
                    ]

conservative_reset:
  reset_distance: 3.0        # clear obstacles farther away than 3.0 m
  invert_area_to_clear: true

aggressive_reset:
  reset_distance: 3.0

ClearCostmapRecovery:
  library_path: librobot_clear_costmap_recovery

MoveBase:
  library_path: libmove_base2